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Check over the following:
-Wheel Balance
-Brake Rotors (Make sure they're not warped all crazy)
-Caster is equal on both sides (Note, this does not mean that the rods are the same length - often times, chassis warp over time so each side will be a little bit different)
-Ball Joints (LCA and Tie Rod)
-Wheel Bearing (Though this doesn't seem like a wheel bearing issue)
I'd bet money on a wheel being out of balance or a brake rotor being warped to hell along with the need for a proper alignment.
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